Autonomous, Flying 3D Scanner
In this video, we demonstrate our flying 3D scanner. Our quadrotor flies autonomously over an area of interest using only its onboard sensors: namely, a single, down-looking camera and an inertial measurement unit. All flight-relevant computation is performed onboard, on a smartphone processor. No pilot, GPS, or motion-capture system is required. We stream a subset of the images down to a laptop computer, where we compute a dense 3D model of the environment. Our algorithms are so efficient that we can create these models in real-time. Therefore, our system has high potential for applications in which detailed information about an unknown environment is time critical, such as during search-and-rescue missions. Code: REMODE: https://github.com/uzh-rpg/rpg_open_remode Reference papers: M. Faessler, F. Fontana, C. Forster, E. Mueggler, M. Pizzoli, D. Scaramuzza, "Autonomous, Vision-based Flight and Live Dense 3D Mapping with a Quadrotor Micro Aerial Vehicle," Journal of Field Robotics, 2015. PDF: http://rpg.ifi.uzh.ch/docs/JFR15_Faessler.pdf M. Pizzoli, C. Forster, D. Scaramuzza REMODE: Probabilistic, Monocular Dense Reconstruction in Real Time, IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014. PDF: http://rpg.ifi.uzh.ch/docs/ICRA14_Pizzoli.pdf Video: http://youtu.be/QTKd5UWCG0Q Robotics and Perception Group, University of Zurich http://rpg.ifi.uzh.ch/
In this video, we demonstrate our flying 3D scanner. Our quadrotor flies autonomously over an area of interest using only its onboard sensors: namely, a single, down-looking camera and an inertial measurement unit. All flight-relevant computation is performed onboard, on a smartphone processor. No pilot, GPS, or motion-capture system is required. We stream a subset of the images down to a laptop computer, where we compute a dense 3D model of the environment. Our algorithms are so efficient that we can create these models in real-time. Therefore, our system has high potential for applications in which detailed information about an unknown environment is time critical, such as during search-and-rescue missions. Code: REMODE: https://github.com/uzh-rpg/rpg_open_remode Reference papers: M. Faessler, F. Fontana, C. Forster, E. Mueggler, M. Pizzoli, D. Scaramuzza, "Autonomous, Vision-based Flight and Live Dense 3D Mapping with a Quadrotor Micro Aerial Vehicle," Journal of Field Robotics, 2015. PDF: http://rpg.ifi.uzh.ch/docs/JFR15_Faessler.pdf M. Pizzoli, C. Forster, D. Scaramuzza REMODE: Probabilistic, Monocular Dense Reconstruction in Real Time, IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014. PDF: http://rpg.ifi.uzh.ch/docs/ICRA14_Pizzoli.pdf Video: http://youtu.be/QTKd5UWCG0Q Robotics and Perception Group, University of Zurich http://rpg.ifi.uzh.ch/